Robotic Work Device

Abstract

To eliminate overlap of traveling routes as much as possible in order to alleviate a damage to a field, and enable more efficient movement among plural areas even when a consideration is taken into charging of a battery.SOLUTION: A robot work system includes a work robot that has a work tool which performs work on a field, and performs work while autonomously traveling on the field. The robot work system further includes a control unit that sets a traveling route of the work robot and controls motions of the work robot. In a case where a first area and a second area are set as work areas of the work robot on the field, when the work robot moves from a work termination point in the first area to a work initiation point in the second area, the control unit sets a route from the work termination point to a base and a route from the base to the work initiation point. The route from the work termination point to the base and the route from the base to the work initiation point are at least partly different from each other.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robotic operating device that performs operations while autonomously traveling in a field. [Background technology]

[0002] Conventionally, there is known a working robot that performs tasks such as mowing the lawn along a travel path while autonomously traveling within a work area (see Patent Document 1 below). According to this conventional technology, a priority work area is set within the work area by dividing the work area into multiple areas via virtual boundaries that are specified in advance by the user, and the robot autonomously travels within the set priority work area to perform work.

[0003] It is also known that when a robotic lawnmower moves between a plurality of areas, a travel route is set between the plurality of areas (see Patent Document 2 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5973608 [Patent Document 2] U.S. Patent No. 9,538,702 Summary of the Invention [Problem to be solved by the invention]

[0005] In the conventional technology shown in Patent Document 1, when work in one priority work area is completed, the vehicle is moved to another area divided into multiple areas, and work is performed in that area. Then, when the remaining battery charge of the vehicle falls below a set value and the battery needs to be charged, the vehicle is returned to the charging base. However, this conventional technology does not clearly state how the vehicle travels between areas.

[0006] According to the conventional technology shown in Patent Document 2, when moving between multiple areas, a travel route is set from a work completion point in a first area to a work start point in a second area, so if it becomes necessary to charge the battery along the way, a round trip route is set from the starting point on the travel route toward the second area to the charging base. In this case, there was a problem that the travel routes overlap on this round trip route, causing significant damage to the field due to tire marks caused by the vehicle's travel.

[0007] The present invention has been proposed to address these problems. In other words, the objective of the present invention is to reduce damage to the field by minimizing overlapping of travel routes, and to enable more efficient movement between multiple areas even when battery charging is taken into consideration. [Means for solving the problem]

[0008] In order to solve such problems, the present invention has the following configuration. A robot working device is provided with a work tool that performs work on a field, and a work robot that performs work while autonomously traveling on the field, the robot working device further includes a control unit that sets a travel path for the work robot and controls the operation of the work robot, the control unit being configured to determine a first area and a second area as a work area for the work robot on the field. Away from the base When the setting is made, the work robot moves from the work end point in the first area Via the base Move to the work start point in the second area. In order to achieve this, a first travel route from the work end point to the base and a second travel route from the base to the work start point are set as the shortest routes. In this regard, A relay point is provided at a location off the straight line connecting the base and the work start point, and the second travel route is set to pass through the relay point, thereby setting the first travel route and the second travel route so as not to overlap with each other. Robot working equipment. Effect of the Invention

[0009] According to the present invention, which has such features, it is possible to reduce damage to the field by minimizing overlap of travel routes, and it is also possible to move more efficiently between multiple areas, even when taking into account battery charging, etc. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an explanatory diagram showing a robotic working device including a field and a base. [Diagram 2] FIG. 1 is an explanatory diagram showing an example of the configuration of a robot working device (an example in which a working robot performs grass cutting work). [Diagram 3] FIG. 1 is an explanatory diagram showing an example of the configuration of a robot working device (an example in which a working robot performs collection work). [Figure 4] FIG. 2 is an explanatory diagram showing a system configuration of the robot operating device. [Diagram 5] FIG. 4 is an explanatory diagram for explaining a control unit of the robot working device. [Figure 6] FIG. 4 is an explanatory diagram showing an example of setting a travel path etc. by a control unit of the robot operating device. [Figure 7] FIG. 4 is an explanatory diagram showing an example of setting a travel path etc. by a control unit of the robot operating device. [Figure 8] FIG. 4 is an explanatory diagram showing an example of setting a travel path etc. by a control unit of the robot operating device. [Figure 9] FIG. 13 is an explanatory diagram showing an example of setting of a travel path etc. by a control unit of a robot operating device ((a) shows an example of setting previously or several times ago, and (b) shows an example of setting this time). [Figure 10] 1A and 1B are explanatory diagrams showing examples of setting of a travel path etc. by a control unit of a robot operating device ((a) shows an example of setting last time or several times ago, and (b) shows an example of setting this time). [Figure 11] 1A and 1B are explanatory diagrams showing examples of setting of a travel path etc. by a control unit of a robot operating device ((a) shows an example of setting last time or several times ago, and (b) shows an example of setting this time). [Figure 12] FIG. 4 is an explanatory diagram showing an example of setting a travel path etc. by a control unit of the robot operating device. [Figure 13] FIG. 4 is an explanatory diagram showing an example of setting a travel path etc. by a control unit of the robot operating device. [Figure 14] FIG. 4 is an explanatory diagram showing an example of setting a travel path etc. by a control unit of the robot operating device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the same reference numerals in different drawings indicate parts having the same function, and duplicated descriptions in each drawing will be omitted as appropriate.

[0012] As shown in Fig. 1, the robotic working device 1 is equipped with a working robot 10 that performs work on a field F. The working robot 10 is equipped with a work tool, described below, for performing work on the field F, and performs work while traveling autonomously on the field F. The work performed by the working robot 10 is not particularly limited, but may be, for example, weeding, collection, cleaning, etc.

[0013] The robotic working device 1 is provided with a base 20 for a field F. The base 20 may be provided inside the field F, or may be provided outside the field F as shown in the figure. The base 20 is, for example, a charging base for an electric working robot 10, and also serves as a discharge location for collected materials when the working robot 10 performs collection work.

[0014] The robot working device 1 also includes a management device 30 as necessary. The management device 30 is for remotely controlling the working robot 10, and can be omitted when the working robot 10 operates using its own control unit, or when the base 20 also serves as the management device and remotely controls the working robot 10. The management device 30 may be provided within the field F, or may be provided outside the field F in an adjacent facility, etc.

[0015] The robotic working device 1 sets a working area Wa for the working robot 10 on the field F. The working robot 10 performs work while traveling autonomously within the set working area Wa. As shown in FIG. 1, when multiple working areas Wa are set, the working robot 10 moves to another working area Wa when work in one working area Wa is completed. The working area Wa here can be set on the system as a virtual area based on position information, but a physical area may also be set within the field F using wires, markers, beacons, or the like.

[0016] Within the working area Wa, the working robot 10 travels along a set travel route Rw, or travels randomly in any direction, performing work while traveling throughout the entire working area Wa. The travel route Rw set within the working area Wa is not limited to a straight route as shown in the figure, and any route can be set.

[0017] 2 and 3 show an example configuration of the robot working device 1. The working robot 10 is equipped with a running part 11 having wheels and the like for running on a field F, a work tool 12 that performs work on the field F, a running drive part (motor) 11A that drives the running part 11, a work drive part (motor) 12A that drives the work tool 12, a control part (CPU) 10A that controls the operation of these parts, a battery 14 that serves as the power source for the working robot 10, and the like.

[0018] The running unit 11 is equipped with left and right running wheels, and by controlling the running drive unit 11A which drives each running wheel independently, the work robot 10 is able to move forward and backward, turn left and right, and steer in any direction.

[0019] 2, the work tool 12 provided to the work robot 10 is a blade device 12S for mowing grass on a field F. The blade device 12S mows grass on the field F by being rotationally driven or linearly reciprocating driven by a work drive unit 12A.

[0020] The work robot 10 also includes a position detection unit 16 for autonomous travel. As an example, the position detection unit 16 may be a GNSS sensor that receives radio signals transmitted from satellites 100 in a global navigation satellite system (GNSS) such as GPS, or a receiving device that receives radio signals transmitted from beacons or the like arranged in or around the field F. Note that there may be multiple position detection units 16.

[0021] The autonomous driving of the work robot 10 is performed by inputting the detected position of the position detection unit 16 to the control unit 10A, and the control unit 10A controls the driving unit 11A so that the detected position coincides with the position of the set driving path, or so that the detected position is included within the set working area Wa.

[0022] The working robot 10 is equipped with a communication unit 17 for transmitting and receiving information to and from other devices as necessary. One example of the device with which the working robot 10 transmits and receives information via the communication unit 17 is a management device 30 installed in a facility, and another example is a control unit 20A provided in the base 20. The working robot 10 can also transmit and receive information to and from other working robots 10 deployed on the field F.

[0023] The management device 30 is a computer installed in a facility or a server connected to a network, and is equipped with a communication unit 31 that transmits and receives information to and from the communication unit 17 of the work robot 10. The base 20 is equipped with a control unit 20A that is equipped with a communication unit 21 that transmits and receives information to and from the communication unit 17 of the work robot 10, and a charging device 22 that charges the battery 14. Communication between the communication units 17, 21, and 31 can be performed directly or via a network. Note that if the control unit 10A of the work robot 10 performs control processing alone, the communication units 17, 21, and 31 and the management device 30 can be omitted. The control unit 20A of the base 20 can also serve as the management device 30.

[0024] FIG. 3 shows an example in which the working robot 10 is equipped with a collecting device 12P that picks up collection objects O and stores them in a storage unit 13 as the work tool 12. In this example, a weighing unit 15 that weighs the amount of collected collection objects O is provided in one or both of the collecting device 12P and the storage unit 13. The weighing unit 15 can be a counter that counts the amount of collection objects O picked up by the collecting device 12P, a weighing device that weighs the number or weight of the collection objects O stored in the storage unit 13, or a load measuring device that measures the work load of the work tool 12. Information measured by the weighing unit 15 is input to the control unit 10A. Other configurations of the working robot 10 shown in FIG. 3 are similar to those of the example shown in FIG. 2.

[0025] 4 shows an example of the system configuration of the robot working device 1. As described above, the control unit 10A of the working robot 10 sends and receives information via the communication unit 17, and the control unit (CPU) 30A of the management device 30 sends and receives information via the communication unit 31. Also, the control unit (CPU) 20A of the base 20 sends and receives information via the communication unit 21.

[0026] The control units 10A, 20A, 30A each include a timekeeping unit 50, 51, 52 such as a real-time clock that keeps track of time and outputs the time, and also include memories 60, 61, 62 that store information and programs. The control units 10A, 20A, 30A are integrated into one control unit U by mutual information exchange via communication units 17, 21, 31, and the functions of one of the control units 10A, 20A, 30A can be substituted by the other control units 10A, 20A, 30A.

[0027] The control unit 10A of the working robot 10 receives work instruction information (information on the existing work schedule, work area, travel route, etc.) from the setting input unit 19, information from the work status detection unit 10T, information on the current position of the working robot 10 from the position detection unit 16, and information on the remaining battery charge from the battery 14. Then, based on this input information, the control unit 10A controls the travel drive unit 11A and the work drive unit 12A to carry out work by the working robot 10 in accordance with the input work instruction information.

[0028] The work status detection unit 10T detects the driving status of the blade, such as the load on the blade, when the work tool 12 is a blade device 12S, and detects information regarding the amount of collection target material O collected from the weighing unit 15 when the work tool 12 is a collection device 12P.

[0029] A control unit 20A provided in the base 20 receives charging progress information and the like from a charging device 22 that charges the battery 14 of the working robot 10.

[0030] The control unit 30A of the management device 30 receives work instruction information (information such as work schedule, work area, driving route, etc.) and information on the management facility (information such as business hours, user, location of use, field condition, plant growth information in the field, supply of collection target material O, events at the management facility and their times, etc.) from the setting input unit 34.

[0031] 5, the control performed by the control unit U (10A, 20A, 30A) of the robot working system 1 comprises a traveling operation control unit P1 that controls the autonomous traveling of the traveling unit 11 (traveling drive unit 11A), a work operation control unit P2 that controls the operation of the working unit 12 (work drive unit 12A), and a setting unit P3 that sets the traveling route and the like of the working robot 10. The traveling operation control unit P1, work operation control unit P2, and setting unit P3 here are programs that control the operation of the CPU of the control unit U (10A, 20A, 30A).

[0032] An example of setting the travel route etc. by the control unit U (10A, 20A, 30A) will be described below with reference to Figures 6 to 14. Here, a first area Wa(1) and a second area Wa(2) are set as common working areas, and a travel route is set for the working robot 10 to move from a work end point G1 in the first area Wa(1) to a work start point G2 in the second area Wa(2).

[0033] In this case, a travel route that moves directly from the work end point G1 in the first area Wa(1) to the work start point G2 in the second area Wa(2) is not set, but a travel route from the work end point G1 to the base 20 and a travel route from the base 20 to the work start point G2 are set. According to this, when the work in the first area Wa(1) is completed and the robot heads for the second area Wa(2), the robot can return to the base 20 to charge the work robot 10, so that it is possible to prevent the battery from running out while working in the second area Wa(2) and to perform the work efficiently.

[0034] The travel route from the work end point G1 to the base 20 and the travel route from the base 20 to the work start point G2 are set to be at least partially different. This makes it possible to minimize overlap between the travel route returning to the base 20 and the travel route from the base 20 to the work area Wa, thereby reducing damage to the field F caused by tire marks of the work robot 10, etc.

[0035] Here, the travel route from the work end point G1 to the base 20 and the travel route from the base 20 to the work start point G2 may be a straight route or a non-straight route. Also, the travel route from the work end point G1 to the base 20 and the travel route from the base 20 to the work start point G2 may be a direct route or a route via a relay point.

[0036] In the example shown in Fig. 6, a work travel route Rw is set in the first area Wa(1) and the second area Wa(2). The travel route Rw here is a route for pattern travel, and in the illustrated example, it is a stripe pattern route in which parallel straight routes in opposite directions are alternately arranged. The travel route Rw in the first area Wa(1) is a route from the work start point G0 to the work end point G1, and the travel route Rw in the second area Wa(2) is a route from the work start point G2 to the work end point G3.

[0037] A travel route Rs from the base 20 to the work start point G0 in the first area Wa(1), a travel route Rt from the work end point G1 in the first area Wa(1) to the base 20, and a travel route Rd from the base 20 to the work start point G2 in the second area Wa(2) are set so as not to overlap each other. In the example shown in Fig. 6, the travel routes Rs, Rt, and Rd are each direct and straight.

[0038] In the example shown in Fig. 7, a relay point Pr is provided on the travel route Rd. As shown in Fig. 7, when an avoidance area Av containing obstacles or the like is set between the base 20 and the work start point G2 of the second area Wa(2), a relay point Pr is set in order to set a detour route that avoids the avoidance area Av. Such a relay point Pr can be provided either or both between the work end point G1 and the base 20 and between the base 20 and the work start point G2, and can also be provided between the base 20 and the work start point G0 as necessary.

[0039] The above-mentioned relay points can be set in multiple places. For example, when RTK-GNSS (GPS) is adopted, the positioning accuracy is improved, so if only one relay point is set, the work robots 10 may concentrate on driving and turning at that location, causing damage to the field. To reduce this, multiple relay points are set and one of the multiple relay points can be arbitrarily selected, making it less likely that damage will be caused to the field.

[0040] FIG. 8 shows an example in which multiple relay points Pr(1), Pr(2), Pr(3), and Pr(4) are provided. Here, relay point Pr(1) is provided between base 20 and work start point G0 of first area Wa(1), relay point Pr(2) is provided between work end point G1 of first area Wa(1) and base 20, and relay points Pr(3) and Pr(4) are provided between base 20 and work start point G2 of second area Wa(2). When multiple relay points are provided in this way, the travel routes Rs, Rt, and Rd can be arbitrarily set while preventing overlapping by selectively passing through these relay points as appropriate.

[0041] In the example shown in Figure 9, at least one of the work start point G0 in the first area Wa(1), the work end point G1 in the first area Wa(1), and the work start point G2 in the second area Wa(2) is set to a point different from a point that was previously set.

[0042] That is, as shown in Fig. 9(a), in the previous or multiple previous settings, if the work start point G0 in the first area Wa(1), the work end point G1 in the first area Wa(1), and the work start point G2 in the second area Wa(2) are set, in the current setting, as shown in Fig. 9(b), the positions of the work start point G0 in the first area Wa(1), the work end point G1 in the first area Wa(1), and the work start point G2 in the second area Wa(2) are changed to different points. This makes it possible to prevent the travel routes Rs, Rt, and Rd from overlapping between the previous and current settings.

[0043] In the example shown in FIG. 10, pattern running is set in the first area Wa(1) and the second area Wa(2), and the angle of the previously set pattern running and the angle of the current pattern running are changed.

[0044] That is, as shown in FIG. 10(a), in the previous or multiple previous settings, if the travel path Rw in the first area Wa(1) and the second area Wa(2) is a stripe pattern pattern along the Y direction, in the current setting, as shown in FIG. 10(b), the travel path Rw in the first area Wa(1) and the second area Wa(2) is a stripe pattern pattern along the X direction. In this way, by changing the angle of the pattern travel, the positions of the work start point G0 in the first area Wa(1), the work end point G1 in the first area Wa(1), and the work start point G2 in the second area Wa(2) can be changed to different positions, thereby preventing the travel paths Rs, Rt, and Rd from overlapping between the previous and current settings. In FIG. 10, the angle of the pattern travel is changed to 90°, but the angle of the pattern travel is not limited to this and can be changed arbitrarily.

[0045] In the example shown in FIG. 11, the positions of the work end point G1 of the first area Wa(1) and the work start point G2 of the second area Wa(2) are shifted between the past setting and the current setting. That is, as shown in FIG. 11(a), when the positions of the work end point G1 of the first area Wa(1) and the work start point G2 of the second area Wa(2) are set in the previous setting or multiple previous settings, in the current setting, the positions of the work end point G1 and the work start point G2 are shifted in the Y direction by a predetermined distance as shown in FIG. 11(b). This makes it possible to prevent the travel routes Rt, Rd from overlapping with the previous setting and the current setting. The points to be shifted may be the work start point G0 of the first area Wa(1) and the work end point G3 of the second area Wa(2), and any point can be selected. In addition, the shift direction may be the X direction, and any direction can be selected.

[0046] In the examples shown in Figures 6 to 11, the work end point G1 in the first area Wa(1) and the work start point G2 in the second area Wa(2) are set to different points. In contrast, as shown in Figure 12, the work end point G1 in the first area Wa(1) and the work start point G2 in the second area Wa(2) may be set to the same point. In such a case, by setting a relay point Pr as shown in Figure 12, it is possible to prevent the travel route Rt and the travel route Rd from overlapping.

[0047] Also, as shown in Fig. 13, there is a case where the work end point G1 in the first area Wa(1), the work start point G2 in the second area Wa(2), and the base 20 are arranged on a straight line (the work start point G2 is on an extension of the line connecting the base 20 and the work end point G1). In such a case, by setting a relay point Pr as shown in Fig. 13, it is possible to prevent the travel route Rt and the travel route Rd from overlapping.

[0048] Also, as shown in FIG. 14, there may be a vacant area Sa between the first area Wa(1) and the second area Wa(2). In such a case, if a travel route Rd2 between the work end point G1 of the first area Wa(1) and the work start point G2 of the second area Wa(2) is set within this vacant area Sa, by providing a relay point Pr as shown in FIG. 14, it is possible to prevent overlapping between the travel route Rt from the work end point G1 of the first area Wa(1) to the base 20 and the travel route Rd1 from the base 20 to the work end point G1 via the relay point Pr. In this case, the travel route from the base 20 to the work start point G2 of the second area Wa(2) is the route obtained by adding the travel route Rd2 to the travel route Rd1.

[0049] In the above-described embodiment, when the work tool 12 of the work robot 10 is in an operational state and the work tool 12 is a blade device 12S, the travel path Rw during work within the first area Wa(1) and the second area Wa(2) is such that grass-cutting work is performed along the travel path Rw, and when the work tool 12 is a collection device 12P, collection work of the collection object O is performed along the travel path Rw.

[0050] In contrast, the travel routes Rt, Rd set when the work robot 10 moves from the work end point G1 in the first area Wa(1) to the work start point G2 in the second area Wa(2), or the travel route Rs from the base 20 to the work start point G0 in the first area Wa(1), put the work tool 12 into a non-working state. As a result, the work tool 12 is in a non-working state when the work robot 10 is traveling other than when working, so unnecessary battery consumption and shortened lifespan of the work tool 12 can be suppressed.

[0051] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and the present invention includes design changes and the like that do not deviate from the gist of the present invention. In addition, the above-mentioned embodiments can be combined by utilizing each other's technologies as long as there are no particular contradictions or problems in the purpose, configuration, etc. [Explanation of symbols]

[0052] 1: Robot working device, 10: Working robot, 10A, 20A, 30A, U: control unit, 10T: work status detection unit, 11: Travel unit, 11A: Travel drive unit, 12: Working tool, 12S: Blade device, 12P: Collection device, 12A: Working drive unit, 13: Storage unit, 14: Battery, 15: Weighing unit, 16: Position detection unit, 17, 21, 31: communication section, 19, 34: setting input section, 20: Base, 22: Charging device, 30: management device, 50, 51, 52: timekeeping unit, 60, 61, 62: memory, 100:Satellite, P1: Traveling operation control unit, P2: Work operation control unit, P3: Setting unit, F: Field, O: Collection object, Wa: working area, Wa(1): first area, Wa(2): second area, Av: Avoidance area, Sa: Free area, Rw, Rs, Rt, Rd, Rd1, Rd2: Travel route, G0, G2: Work start point, G1, G3: Work end point, Pr,Pr(1),Pr(2),Pr(3),Pr(4): Relay point

Claims

1. A robotic work device including a work robot having a work tool for performing work on a field and performing work while autonomously traveling on the field, a control unit that sets a travel path for the working robot and controls an operation of the working robot; The control unit is When a first area and a second area are set away from a base as a working area of ​​the work robot on a field, in order for the work robot to move from a work end point in the first area to a work start point in the second area via the base, a first travel route from the work end point to the base and a second travel route from the base to the work start point are set as the shortest routes, A relay point is provided at a location off the straight line connecting the base and the work start point, and the second travel route is set to pass through the relay point, thereby setting the first travel route and the second travel route so as not to overlap with each other. Robot working equipment.

2. A relay point is provided at a location off the straight line connecting the work end point and the base, and the first travel route is set to pass through the relay point. The robot working device according to claim 1.

3. A plurality of relay points are provided, and the first travel route and the second travel route are updated by selectively passing through the plurality of relay points.

3. The robot working device according to claim 1 or 2.

4. In the first travel path and the second travel path, the work tool is in a non-working state. The robot working device according to any one of claims 1 to 3.

5. The work tool is a blade device for mowing grass on a field. The robot working device according to any one of claims 1 to 4.

6. The work tool is a collection device that collects collection objects on a field. The robot working device according to any one of claims 1 to 4.

7. There is a free area between the first area and the second area. The robot working device according to any one of claims 1 to 6.

Images